parts detected by logical cameras should have unique TF frames
Issue #62
resolved
currently if two logical cameras see the same part, the TF tree is continually re-configuring because both publish transforms with the same child but different parents. this is inefficient at best and risky at worst (tfoote was surprised it was working as-is).
we'll need to update how we publish the world->agv1 transforms
because now it needs to be world->agv1_as_seen_by_logical_cameraN
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Addressed in https://bitbucket.org/osrf/ariac/pull-requests/50
Users will need to specify prefixed names of TF frame IDs, i.e. specify what sensor is providing the transform data. e.g.
rosrun tf tf_echo world logical_camera_2_kit_tray_1_frame
. tutorial updated. -
reporter - changed milestone to Qual1
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see https://bitbucket.org/osrf/ariac/pull-requests/50